// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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#ifndef MAPVIZ_PLUGINS__GRID_PLUGIN_H_
#define MAPVIZ_PLUGINS__GRID_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
#include <QTimer>

// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>

#include <mapviz/map_canvas.h>

// C++ standard libraries
#include <string>
#include <list>

// QT autogenerated files
#include "ui_grid_config.h"

namespace mapviz_plugins
{
class GridPlugin : public mapviz::MapvizPlugin
{
  Q_OBJECT

public:
  GridPlugin();
  ~GridPlugin() override = default;

  bool Initialize(QGLWidget* canvas) override;
  void Shutdown() override {}

  void Draw(double x, double y, double scale) override;

  void Transform() override;

  void LoadConfig(const YAML::Node& node, const std::string& path) override;
  void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;

  QWidget* GetConfigWidget(QWidget* parent) override;

protected:
  void PrintError(const std::string& message) override;
  void PrintInfo(const std::string& message) override;
  void PrintWarning(const std::string& message) override;

protected Q_SLOTS:
  void SelectFrame();
  void FrameEdited();
  void SetAlpha(double alpha);
  void SetX(double x);
  void SetY(double y);
  void SetSize(double size);
  void SetRows(int rows);
  void SetColumns(int columns);
  void DrawIcon() override;

private:
  Ui::grid_config ui_;
  QWidget* config_widget_;

  double alpha_;

  tf2::Vector3 top_left_;

  double size_;
  int rows_;
  int columns_;

  bool transformed_;

  std::list<tf2::Vector3> top_points_;
  std::list<tf2::Vector3> bottom_points_;
  std::list<tf2::Vector3> left_points_;
  std::list<tf2::Vector3> right_points_;

  std::list<tf2::Vector3> transformed_top_points_;
  std::list<tf2::Vector3> transformed_bottom_points_;
  std::list<tf2::Vector3> transformed_left_points_;
  std::list<tf2::Vector3> transformed_right_points_;

  swri_transform_util::Transform transform_;

  void RecalculateGrid();
  void Transform(std::list<tf2::Vector3>& src, std::list<tf2::Vector3>& dst);
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__GRID_PLUGIN_H_
